uint8[2] head
uint8 level_flag
uint8 frame_reserve

uint32[2] sn
uint32[2] version
uint16 band_width
uint8 mode 

uint8 gait_type		   
uint8 speed_level			   
float32 foot_raise_height		   
float32 body_height	   
float32[2] position 
float32[3] euler	   
float32[2] velocity 
float32 yaw_speed				   
BmsCmd bms
LED[4] led
uint8[40] wireless_remote
uint32 reserve

uint32 crc